Related papers: Real-Time Walking Pattern Generation of Quadrupeda…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
Machine learning algorithms have found several applications in the field of robotics and control systems. The control systems community has started to show interest towards several machine learning algorithms from the sub-domains such as…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
In this paper, we holistically present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization. The H-LIP is proposed…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D…
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying…
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…
Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…
This paper presents an alternative way to the dynamic modeling of a rotational inverted pendulum using the classic mechanics known as Euler-Lagrange allows to find motion equations that describe our model. It also has a design of the basic…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…